US7227440B2 - Electromagnetic actuator - Google Patents

Electromagnetic actuator Download PDF

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Publication number
US7227440B2
US7227440B2 US11/070,265 US7026505A US7227440B2 US 7227440 B2 US7227440 B2 US 7227440B2 US 7026505 A US7026505 A US 7026505A US 7227440 B2 US7227440 B2 US 7227440B2
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central
elements
electromagnetic actuator
compression force
end elements
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US11/070,265
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US20060197167A1 (en
Inventor
Kevin Allan Dooley
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Pratt and Whitney Canada Corp
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Pratt and Whitney Canada Corp
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Assigned to PRATT & WHITNEY CANADA CORP. reassignment PRATT & WHITNEY CANADA CORP. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DOOLEY, KEVIN ALLAN
Priority to US11/070,265 priority Critical patent/US7227440B2/en
Priority to PCT/CA2006/000299 priority patent/WO2006092048A1/fr
Priority to JP2007557299A priority patent/JP2008532470A/ja
Priority to CA2599839A priority patent/CA2599839C/fr
Priority to DE602006016665T priority patent/DE602006016665D1/de
Priority to EP06251124A priority patent/EP1699093B1/fr
Publication of US20060197167A1 publication Critical patent/US20060197167A1/en
Publication of US7227440B2 publication Critical patent/US7227440B2/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
    • H02N2/023—Inchworm motors
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N35/00—Magnetostrictive devices

Definitions

  • the present invention relates to actuators, more particularly to electromagnetic actuators.
  • Electromagnetic linear actuators of an inchworm type are known and one common solution is achieved by directly moving an actuator armature in small steps using piezoelectric, electromagnetic, or magnetostrictive armature translators. Such translators can move the armature in nanometer increments, and can exert very large forces, because they rely on the stiffness of an expanding or contracting material.
  • electromagnetic linear actuators of an inchworm type are disclosed in U.S. Pat. No. 5,027,027 (Orbach et al.), U.S. Pat. No. 3,902,085 (Bizzigotti) and U.S. Pat. No. 3,902,084 (May, Jr.).
  • the performance efficiency of the actuators disclosed in those prior art documents is limited due to the limitation of the structures thereof.
  • the object of the present invention is to provide an electromagnetic actuator.
  • an electromagnetic actuator which comprises a first member and a second member moveable relative to the first member.
  • the second member includes first end, central and second end elements of a magnetostrictive material, the elements being mounted one to another in series with the central element disposed between the first and second end elements.
  • the second member further includes means for forcing engagement of the first and second end elements with the first member, and means for selectively, magnetostrictively activating the first end, central and second end elements in a controlled manner for permitting the respective first and second end elements to selectively, co-operatively release the forced engagement thereof with the first member while permitting controllably expanding and contracting the central element in a longitudinal direction, thereby causing movement of the first member relative to the second member.
  • an electromagnetic actuator which comprises a first member and a second member moveable relative to the first member.
  • the second member includes first end, central and second end elements of a magnetostrictive material mounted one to another in series and at least partially defining a passage for receiving the first member extending therethrough.
  • the central element is disposed between the first and second end elements such that magnetostrictive activation thereof changes the distance between the first and second end elements.
  • the first and second end elements have respective restraining members therearound restraining radial expansion thereof.
  • the first and second end elements is preloaded to apply a clamping action on the first member, the clamping action being releasable by magnetostrictive activation of the first and second end elements.
  • the second member further includes an activation apparatus adapted to controllably magnetostrictively activate the first end, central and second end elements according to a control sequence.
  • a method of providing a motion between first and second members, the second member including first end, central and second end elements of a magnetostrictive material, being mounted to one another in series with the central element disposed between the first and second end elements comprising: (a) applying a pre-load compression force through the elements while restraining a predetermined surface of the first and second end elements, thereby engaging the first and second end elements with the first member; (b) intermittently producing magnetic flux in the respective first and second end elements to alternately disengage and engage the first and second end elements from and with the first member; (c) intermittently producing magnetic flux in the central element to expand the central element against the compression force and then contract under the compression force, thereby moving one of the first and second end elements reciprocally relative to the other; and (d) controlling the timing of steps (b) and (c) to allow said one of the first and second end elements engaging the first member to move together with the first member relative to the other, either in one direction under a
  • the electromagnetic actuator of the present invention advantageously has a very high force capacity in addition to a very controllable action.
  • the stroke length of a linear actuator embodiment of this device is only limited by the length of the driven member.
  • FIG. 1 is a cross-section of an electromagnetic linear actuator according to one embodiment of the present invention
  • FIGS. 2A–2C show a schematic illustration, showing a sequence of operations of the embodiment of FIG. 1 in one direction;
  • FIGS. 3A–3C are schematic illustrations, showing a sequence of operations of the embodiment of FIG. 1 in the other direction.
  • an electromagnetic linear actuator in accordance with one embodiment of the present invention includes a base structure, preferably a housing 12 having a cylindrical wall 14 axially extending between two opposed end walls 16 and 18 .
  • the respective opposed end walls 16 , 18 define central openings (not indicated) therein for receiving an elongate driven member, preferably a non-magnetic steel rod 20 extending therethrough, and permitting the rod 20 to axially move in either direction relative to the housing 14 .
  • the rod 20 may not be necessarily a rigid steel rod, but may be a section of a flexible but not extendible cable, or other types, which will be further described hereinafter.
  • a driver assembly 22 is operatively supported within the housing 12 and includes central, first and second end elements of a magnetostrictive material, preferably a central hollow cylinder 24 , first and second end hollow cylinders 26 , 28 .
  • the magnetostrictive material is preferably the compound Terfenol-D which possesses an unusually large magnetostrictive strain. Under its pre-stressed condition, magnetic field applied to a magnetostrictive material will result in a large positive magnetostrictive strain or expansive deformation of the material.
  • the first end, central and second end hollow cylinders 26 , 24 and 28 are positioned in series, each of the cylinders defining an inner passage (not indicated) for receiving the rod 20 extending therethrough.
  • Washers 30 , 32 , 34 and 36 are provided at the outer end of each of the first and the second end hollow cylinders 26 , 28 , and provided between the first end hollow cylinders 26 and the central hollow cylinder 24 , and between the central hollow cylinder 24 and the second end hollow cylinder 28 , respectively.
  • the washers 30 , 32 , 34 and 36 are made of a magnetic flux permeable material, preferably electromagnetic steel for guiding magnetic flux.
  • the washers 30 – 36 have an inner diameter to allow an axial movement thereof relative to the rod 20 , and an outer diameter to permit the washers 30 – 36 to axially move relatively to the steel cylinder 38 while keeping in contact with the steel cylinder 38 , thereby forming a closed magnetic flux guiding circuit for each of the first end, central and second end hollow cylinders 26 , 24 and 28 .
  • Each of the first and second end hollow cylinders 26 , 28 is provided with a restraining ring 40 and 42 which is tightly fitting on the outer periphery of the first and second end hollow cylinders 26 , 28 to restrain radial expansion thereof.
  • the restraining rings 40 and 42 are made of non-magnetic metal, preferably made of titanium.
  • Electromagnetic circuits such as first and second excitation coils 44 , 46 and main extension coil 48 are provided within the steel cylinder 38 and around the first, second end cylinders 26 , 28 and the central hollow cylinder 24 , respectively for producing magnetic flux in each of the cylinders 26 , 24 and 28 .
  • Means for applying an axial compression force for example a dish plate spring 50 is provided between the washer 36 and the end wall 18 of the housing 12 to urge the entire driver assembly 22 towards and against the end wall 16 of the housing 12 , thereby applying the axial compression force through each of the cylinders 26 , 24 and 28 .
  • the central hollow cylinder 24 radially expands both inwardly and outwardly.
  • the inner passage of the central hollow cylinder 24 has a diameter such that under the radially expanding condition caused by the axial compression force, the central hollow cylinder 24 maintains an axially moveable feature relative to the rod 20 .
  • the respective first and second end hollow cylinders 26 , 28 are prevented from outwardly radially expanding when the axial compression force is applied thereto, and the first and second end hollow cylinders 26 , 28 can only expand radially and inwardly, thereby reducing the diameter of the inner passage thereof.
  • the inner passage of the respective first and second end hollow cylinders 26 , 28 is properly sized such that a clamping action between the rod 20 and each of the first and second end hollow cylinders 26 , 28 occurs when the axial compression force is applied by the spring 50 , thereby the relative axial movement between the rod 20 and each of the first and second end hollow cylinders 26 , 28 is prohibited.
  • the first end hollow cylinder 26 is restrained by the end wall 16 of the housing 12 while the axial position of the second end hollow cylinder 28 relative to the first end hollow cylinder 26 and the housing 12 is variable.
  • the distance between the first and second end hollow cylinders 26 , 28 is determined by the axial dimension of the central hollow cylinder 24 . Therefore activating and deactivating the central hollow cylinder 24 by energizing and de-energizing the main extension coil 48 which result in respective axial expansion and contraction of the central hollow cylinder 24 , move the second end hollow cylinder 28 in reciprocation.
  • the second end hollow cylinders 28 will move with or without the rod 20 .
  • an inchworm type of motion of the rod 20 in either direction relative to the housing 12 can be achieved.
  • the appropriate timing of the energizing and de-energizing the respective coils 44 , 46 and 48 is controlled by a controller 52 which regulates the frequency and the phase of AC current introduced to the individual coils 44 , 46 and 48 .
  • a first step of the operations is to activate the second end hollow cylinder 28 to release the clamping action between this cylinder and the rod 20 while maintaining the deactivating condition of the first end hollow cylinder 26 and the central hollow cylinder 24 .
  • the first end hollow cylinder 26 clamps the rod 20 and the central hollow cylinder 24 maintains its axial dimension under the axial compression force indicated by arrow 54 .
  • the second end hollow cylinder 28 is urged by the axial compression force 54 towards the central hollow cylinder 24 , and is maintained in its first (the original) position indicated by line 56 , as shown in FIG. 2A .
  • the central hollow cylinder 24 is activated to axially expand.
  • the central cylinder 24 can only expand towards the second end hollow cylinder 28 and moves same against the axial compression force 54 to a second position indicated by line 58 , because at the other end the central hollow cylinder 24 is restrained from axially expanding by the first end hollow cylinder 26 abutting the end wall 16 of the housing.
  • the rod 20 remains still because the rod 20 is clamped by the stationary first end hollow cylinder 26 , but not the moving second end hollow cylinder 28 .
  • the second end hollow cylinder 28 reaches the second position 58 , the second end hollow cylinder 28 is deactivated and thereby clamps the rod 20 , as shown in FIG. 2B .
  • the first end cylinder 26 is activated to release the clamping action thereof on the rod 20 and then the central cylinder is deactivated to contract in its axial dimension to the length as show in FIG. 2A .
  • the axial compression force 54 urges the second end hollow cylinder 28 to return to its first position 56 as shown in FIG. 2C .
  • the rod 20 is moved together with the second end hollow cylinder 28 in the direction towards the left side as indicated by the arrow 60 in FIG. 2C because of the clamping action between the rod 20 and the second end hollow cylinder 28 which is moving. Therefore, the rod 20 as a driven member completes its first step of an inchworm motion in the direction 60 .
  • the first end hollow cylinder 26 is deactivated to clamp the rod 20 and then the second end hollow cylinder 28 is activated to release the clamping action thereof of the rod 20 , as show in FIG. 2A . From now on, the above-described steps are repeated in a controlled manner such that the rod 20 is continuously moving in the inchworm type motion in this direction indicated by arrow 60 .
  • the rod is moved by the axial compression force 54 which is applied by the spring 50 of FIG. 1 .
  • the spring dish plate 50 is adapted provides powerful compression force up to several thousands PSI to overcome an axial load carried by the rod 20 .
  • FIGS. 3A–3C a sequence of operations of the electromagnetic linear actuator 10 is described in another motion mode.
  • the operation steps in FIGS. 3A–3C are similar to the operation steps in FIGS. 2A–2C by selectively activating and deactivating the respective first end, central and second end hollow cylinders 26 , 24 and 28 such that the central hollow cylinder 24 in cooperation with the applied axial compression force 54 moves the second end hollow cylinder in reciprocation while the respective first and second end cylinders 26 , 28 are in cooperation to allow the rod 20 to move together with the second end hollow cylinder 28 in a selected direction.
  • the first end cylinder 26 is activated to release the clamping action thereof on rod 20 while the second end hollow cylinder 28 remains in its deactivated condition to clamp the rod 20 .
  • This clamping condition causes the rod 20 to move together with the second end hollow cylinder 28 from its first position 56 to the second position 58 when the second end hollow cylinder 28 is urged by the expansion of the activated central hollow cylinder 24 .
  • the direction of such inchworm of the rod 20 is indicated by arrow 62 in FIG. 3B , opposite to the direction of the inchworm motion of rod 20 in FIG. 2C .
  • the housing 12 can move in either direction along rod 20 in operation of the actuator 10 .
  • the magnetostrictive force can reach up to eight thousand PSI for overcome the preload of the axial compression force 54 and an axial workload carried by the rod 20 , if sufficient electric current is provided. Similar clamping forces provided by the respective first and second end hollow cylinders 26 , 28 are also achievable.
  • the stroke length of this linear actuator 10 is limited only by the length of the rod 20 . Nevertheless, each step of the inchworm motion of rod 20 is determined by the change in the axial dimension of the central cylinder 24 . In order to provide a more effective inchworm motion of rod 20 the axial dimension of the central cylinder 24 is preferably substantially greater than the axial dimension of the respective first and second end hollow cylinders 26 and 28 .
  • the electromagnetic linear actuator 10 of the present invention also provides a very fine and very rapid motion of the rod relative to the housing because the respective first end, central and second end hollow cylinders can be activated and deactivated at several thousand times per second.
  • the driven member which is described in the above embodiment as a steel rod, can alternatively be any flexible but not extendible member, such as a steel cable.
  • the driven member could be a cable of a winch.
  • the driven member may be curved or even circular if desired.
  • the actuator may be configured to instead expand radially outward (radially inward movement being preferably restrained) to outwardly engage, and thus grip, an externally positioned driven member—that is, the skilled reader will appreciate that, instead of the rod-like driven member described above, a hollow drum-like driven member could surround expandable magnetostrictive elements instead. In such a design, the gripping action of the magnetostrictive elements is activated by magnetic flux rather than a compression force, the means for applying the compression force and the expansion restraining apparatus are therefore not needed and the operation steps will change accordingly.
  • the driving member including the megnetostrictive elements can become a driven member, which extends the present invention to even broader applications.

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  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
US11/070,265 2005-03-03 2005-03-03 Electromagnetic actuator Active US7227440B2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US11/070,265 US7227440B2 (en) 2005-03-03 2005-03-03 Electromagnetic actuator
PCT/CA2006/000299 WO2006092048A1 (fr) 2005-03-03 2006-03-01 Actionneur electromagnetique
JP2007557299A JP2008532470A (ja) 2005-03-03 2006-03-01 電磁アクチュエータ
CA2599839A CA2599839C (fr) 2005-03-03 2006-03-01 Actionneur electromagnetique
DE602006016665T DE602006016665D1 (de) 2005-03-03 2006-03-02 Elektromagnetischer Aktor
EP06251124A EP1699093B1 (fr) 2005-03-03 2006-03-02 Actionneur électromagnétique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/070,265 US7227440B2 (en) 2005-03-03 2005-03-03 Electromagnetic actuator

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US20060197167A1 US20060197167A1 (en) 2006-09-07
US7227440B2 true US7227440B2 (en) 2007-06-05

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US (1) US7227440B2 (fr)
EP (1) EP1699093B1 (fr)
JP (1) JP2008532470A (fr)
CA (1) CA2599839C (fr)
DE (1) DE602006016665D1 (fr)
WO (1) WO2006092048A1 (fr)

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US20080111431A1 (en) * 2006-11-15 2008-05-15 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element

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US7548010B2 (en) * 2004-09-21 2009-06-16 Gm Global Technology Operations, Inc. Active material based actuators for large displacements and rotations
GB2445773A (en) * 2007-01-19 2008-07-23 Sortex Ltd Electromagnetic actuator using magnetic shape memory material
US20090251993A1 (en) * 2008-04-04 2009-10-08 Pile Dynamics, Inc. Shear wave transducer and method of using the same
DE102008034285A1 (de) * 2008-07-22 2010-02-04 Carl Zeiss Smt Ag Aktuator zur hochpräzisen Positionierung bzw. Manipulation von Komponenten und Projektionsbelichtungsanlage für die Mikrolithographie
CN102291041B (zh) * 2011-08-25 2013-09-04 苏州海兹思纳米科技有限公司 基于尺蠖运动的纳米马达
CN103187900B (zh) * 2011-12-27 2016-01-20 中国科学技术大学 摩擦力自配合的高对称性四摩擦力压电马达及其控制方法
RU2603233C2 (ru) * 2012-08-17 2016-11-27 Андрей Леонидович Кузнецов Насосная установка с электроприводом
US9490149B2 (en) * 2013-07-03 2016-11-08 Lam Research Corporation Chemical deposition apparatus having conductance control
CN107429563B (zh) * 2014-12-15 2021-04-20 通用电气(Ge)贝克休斯有限责任公司 用于操作电致动的连续油管工具和传感器的系统和方法
CN105703660B (zh) * 2016-03-18 2018-01-19 中国科学院合肥物质科学研究院 一种自配合高对称四摩擦力压电马达的相向摩擦驱动方法
CN109150000A (zh) * 2017-06-28 2019-01-04 杨斌堂 微位移驱动器
US10930838B1 (en) * 2017-09-27 2021-02-23 The Unites States of America, as represented by the Secretary of the Navy Magnetostrictive actuator with center bias
CN111216108B (zh) * 2020-03-03 2022-10-18 中国科学院光电技术研究所 一种基于压电驱动的多状态并联多自由度运动平台
KR20230074592A (ko) * 2020-10-02 2023-05-30 토마스 알렉산더 존슨 전자기 시스템들에서 힘을 생성하기 위한 장치, 시스템들 및 방법들

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
US20080111431A1 (en) * 2006-11-15 2008-05-15 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element
US7675253B2 (en) * 2006-11-15 2010-03-09 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element
US20100117463A1 (en) * 2006-11-15 2010-05-13 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element
US7999422B2 (en) 2006-11-15 2011-08-16 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element

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DE602006016665D1 (de) 2010-10-21
US20060197167A1 (en) 2006-09-07
EP1699093A2 (fr) 2006-09-06
EP1699093B1 (fr) 2010-09-08
CA2599839A1 (fr) 2006-09-08
CA2599839C (fr) 2012-12-04
EP1699093A3 (fr) 2007-07-25
JP2008532470A (ja) 2008-08-14

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